Related papers: Sliding-Mode Control Strategies for PMSM: Benchmar…
In this work, we propose a new passivity-based sliding mode control method for mechanical port-Hamiltonian systems. Passivity-based sliding mode control (PBSMC) is unification of sliding mode control and passivity-based control. It achieves…
We propose a Stochastic MPC (SMPC) approach for autonomous driving which incorporates multi-modal, interaction-aware predictions of surrounding vehicles. For each mode, vehicle motion predictions are obtained by a control model described…
This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…
Nonlinear Model Predictive Control (NMPC) is widely used for controlling high-speed robotic systems such as quadrotors. However, its significant computational demands often hinder real-time feasibility and reliability, particularly in…
Autonomous systems with machine learning-based perception can exhibit unpredictable behaviors that are difficult to quantify, let alone verify. Such behaviors are convenient to capture in probabilistic models, but probabilistic model…
This paper introduces a data-based integral sliding mode control scheme for robustification of model-reference controllers, accommodating generic multivariable linear systems with unknown dynamics and affected by matched disturbances.…
We propose a parametric model of the saturated Permanent-Magnet Synchronous Motor (PMSM) together with an estimation method of the magnetic parameters. The model is based on an energy function which simply encompasses the saturation…
We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predictions capture the uncertainty of urban driving in distinct…
In this paper, we present a new terminal sliding mode control to achieve predefined-time stability of robot manipulators. The proposed control is developed based on a novel predefined-time terminal sliding mode (PTSM) surface, on which the…
In this paper, a three-machine equivalent method applicable to asymmetrical faults is proposed considering the operating wind speed and fault severity. Firstly, direct-driven permanent magnet synchronous generator wind turbines (PMSGs) are…
This paper presents a new data-driven control for multi-input, multi-output nonlinear systems with partially unknown dynamics and bounded disturbances. Since exact nonlinearity cancellation is not feasible with unknown disturbances, we…
This work features the optimization of a Permanent Magnet Synchronous Motor using 2D nonlinear simulations in an Isogeometric Analysis framework. The rotor and stator designs are optimized for both geometric parameters and surface shapes…
Cylindrical manipulators are extensively used in industrial automation, especially in emerging technologies like 3D printing, which represents a significant future trend. However, controlling the trajectory of nonlinear models with system…
This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…
The Mixed convention/braking Actuation Mobile Robot (MAMR) was designed to tackle some of the drawbacks of conventional mobile robots such as losing controllability due to primary actuator failures, mechanical complexity, weight, and cost.…
This paper presents a systematic and comprehensive analysis of the impact of parameter imbalance in permanent magnet synchronous machines. Analytical models that reveal the effects of imbalance are obtained for each parameter. Thereafter,…
This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first…
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…
With the development of autonomous driving technology, there are increasing demands for vehicle control, and MPC has become a widely researched topic in both industry and academia. Existing MPC control methods based on vehicle kinematics or…
The performance of model predictive controllers (MPC) strongly depends on the model quality. In the field of electric drive control, white-box (WB) modeling approaches derived from first-order physical principles are most common. This…